JP2002267439A - Rotational angle detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the rotational angle of a rotary shaft even in a simple structure at a high reliability. SOLUTION: A potentiometer comprises a converter 1, i.e., a means for converting a rotational angle to an electric signal, and a mount 11 rotatably supported with a main body for transmitting the rotational angle of a not shown rotating rotary shaft under measurement mounted on the mount to the converter 1. The mount 11 has an inner side 11a formed larger than the outline shape of the not shown rotary shaft and the inner side 11a has protrusions 11d to which a part of the rotary shaft is pressure-contacted when the shaft is mounted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation angle detector for detecting a rotation angle, and more particularly, to a rotation angle detector for detecting a rotation angle by mounting a rotation shaft as an object to be measured.

[0002]

2. Description of the Related Art Conventionally, there have been many products that are completed by combining or mounting various members or parts. In this case, the combination structure or the mounting structure poses a problem.

[0003] For example, a volume control unit in a radio receiver or a television receiver is configured by combining such components. FIG. 14 shows the configuration of the volume control unit. As shown in FIG. 14, the volume control unit includes a variable resistor 100 serving as a portion for actually controlling the volume, and a knob 110 serving as a portion operated by a user or the like.

The volume of the variable resistor 100 can be adjusted by rotating the rotating shaft 101. A knob 110 is attached to the rotating shaft 101 of the variable resistor 100.
Is attached.

Here, the rotating shaft 101 of the variable resistor 100
Each mounting portion of the knob 110 and the knob 110 has a shape adapted to the other party. Specifically, a so-called knurl is cut on the surface 102 of the rotating shaft 101. The mounting hole 111 of the knob 110 has a shape corresponding to the shape of the rotary shaft 101 from which the knurl has been cut. Thus, the variable resistor 100 and the knob 11
“0” is a shape suitable for each other, and the respective mounting portions are fitted to each other in the assembling to constitute a volume control unit.

[0006] Such a volume control unit is provided with a variable resistor 100 provided with a rotation angle given by manipulating a knob by a human.
Was often transmitted to As described above, the volume control unit that is assumed to be operated by a human does not pose a problem of rotation transmission play due to the fact that the mounting parts do not completely match.

On the other hand, in a rotation angle detector for measuring a rotation angle, efforts have been made to eliminate backlash and the like by using an expensive coupling. That is, as for the rotation angle detector, an expensive coupling is used because the rotation transmission play as described above causes a decrease in detection accuracy.

Here, a rotation angle detector, a so-called potentiometer, will be described. Some potentiometers are also constituted by variable resistors. In this case, the potentiometer uses a variable resistor to detect the rotation angle of a rotating member to be measured attached to the rotating shaft. FIGS. 15 and 16 show the configuration of a potentiometer that detects the rotation angle of the rotating member 130, which is the measured object, using the variable resistor 120. FIG.

The variable resistor 120 outputs an electric signal according to the rotation amount or rotation angle of the rotation shaft 121. The potentiometer detects the rotation angle of the rotation shaft 121 based on the electric signal output from the variable resistor 120. Here, the shape of the rotating shaft 121 of the variable resistor 120 is generally a substantially D-shaped cross section,
It has a cut shaft shape.

The rotating member 130 has a gear 131. The rotating member 130 has a gear portion 131 engaged with a gear (not shown). And the rotating member 13
0, at the center of each of both side surfaces of the gear portion 131,
First and second rotating shafts 132 and 133 are provided.

The second rotation support shaft 133 has a substantially cylindrical shape, and has a fitting hole 133a into which the rotation shaft 121 of the variable resistor 120 is fitted. Fitting hole 133
a is a substantially D-shaped hole, a so-called D-cut hole shape. The shape of the fitting hole 133a is such that it substantially matches the outer shape of the rotary shaft 121 of the variable resistor 120. The second rotation support shaft 133 having such a shape constitutes an output shaft for detecting a rotation angle.

The rotating member 130 has a gear 131
Is partially cut away, and a power transmission portion 134 is protruded from the portion. In the rotating member 130,
A drive member (not shown) is attached to the power transmission unit 134.

The rotation support member 140 rotatably supports such a rotation member 130. The rotation support member 140 has first and second support portions 141 and 142 to which first and second rotation shafts 132 and 133 formed on the rotation member 130 are attached, respectively. First
The support 141 and the second support 142 are arranged at a predetermined distance from each other in the rotation support member 140, and the distance between the support 141 and the second support 142 is such that the gear 131 of the rotation member 130 is arranged therebetween. It is assumed.

The first and second supporting portions 141 and 142 have first and second rotating shafts 132 and 1 of the rotating member 130 mounted thereon.
First and second support holes 14 for rotatably supporting 33
1, 142 are provided. For example, the first and second support holes 141 and 142 are mounting holes for the bearings 151 and 152, so that the first and second rotating shafts 132 and 133 of the rotating member 130 can be freely rotated by the bearings. It will be supported by. Then, the second support portion 142
On the side, the main body 122 of the variable resistor 120
The attachment part 142a to which is fitted is formed.

With the rotation supporting member 140 configured as described above, the first and second rotation shafts 132 and 133 of the rotating member 130 are moved by the first and second rotation shafts of the rotation supporting member 140.
Are rotatable in the support holes 141 and 143. Then, the rotary shaft 12 of the variable resistor 120 in which the main body 122 is attached to the attachment portion 142a of the rotation support member 140
1 is fitted into the fitting hole 133a of the second rotating shaft 133.

With the above configuration, the rotating member 130 to be measured is controlled by the variable resistor 120.
Is detected.

That is, when the rotating member 130 rotatably supported by the rotation supporting member 140 is rotated, the fitting hole 13 of the second rotating shaft 133 of the rotating member 140 is rotated.
Rotation axis 1 of variable resistor 120 attached to 3a
21 is also rotated.

Here, the rotation of the rotating member 140 is performed by transmitting the power between a driving member (not shown) attached to the power transmitting portion 134 and a gear (not shown) engaged with the gear portion 131. It is done in the process.

As described above, when the rotating shaft 121 is rotated, the variable resistor 120 outputs an electric signal corresponding thereto. Then, the rotation angle is detected by the electric signal.

As described above, the configuration shown in FIGS. 15 and 16 makes it possible to detect when the rotating member 140 rotates and its rotation angle.

Note that such a configuration for detecting the rotation angle can be applied to an entertainment type robot apparatus having legs and the like and acting autonomously. For example,
The robot apparatus controls a driving state of a moving unit such as a leg in accordance with external information (for example, surrounding environment) or own information (for example, internal state such as emotion) to express a certain motion. There is something that can be done.

When a configuration as shown in FIGS. 15 and 16 is applied to such a robot device, for example,
A leg is directly or articulated on the power transmission unit 134 side of the rotating member, and a drive motor or the like as a driving unit is mounted on a gear (not shown) engaged with the gear 131.

As a result, the drive motor is controlled by a control signal output according to external information or own information, and the leg is driven via the rotating member 130. Then, at this time, the rotation angle of the rotating member 130 is detected by the variable resistor 120.

By configuring the potentiometer as described above, the fitting hole 133a of the second rotating shaft 133 of the rotating member 130 is made substantially the same as the shape of the rotating shaft 121 of the variable resistor 120. The rotating shaft 121 of the variable resistor 120 can be easily attached to the fitting hole 133a of the second rotating shaft 133. For example, this makes it possible to increase the productivity of the robot device as described above and to reduce the price of the robot device.

[0025]

However, it is impossible to make the rotating shaft 121 of the variable resistor 120 and the fitting hole 133a of the second rotating shaft 133 of the rotating member 130 exactly the same size. There is usually a dimensional difference. However, for example, when the dimension of the fitting hole 133a is slightly larger than that of the rotary shaft 121, the resulting dimension difference becomes a dead zone and adversely affects servo control and the like.

In order to avoid such troubles, it is also conceivable to manufacture each part in a loose shape and inject an adhesive into a gap generated by the dimensional difference to fix the parts. However, costs, durability, reliability, etc. are reduced.

Therefore, the present invention has been made in view of the above-mentioned circumstances, and has a simple structure, eliminates a dead zone, and reduces the rotation angle of a rotating member to be measured.
It is an object of the present invention to provide a rotation angle detector capable of detecting with high reliability.

[0028]

SUMMARY OF THE INVENTION In order to solve the above-described problems, a rotation angle detector according to the present invention is provided with a conversion means for converting a rotation angle into an electric signal, and a rotatably supported main body. And a mounting member to which a rotating shaft serving as a measuring object is mounted and which transmits a rotation angle of the rotating rotating shaft to the conversion means. The mounting member has an inner surface formed to be larger than the outer shape of the rotating shaft, and the inner surface has a portion to which a part of the rotating shaft is pressed when the rotating shaft is mounted. I have.

In such a rotation angle detector, when the rotating shaft is mounted on the mounting member, a part of the mounting member is pressed against a part of the rotating shaft. Then, the rotation angle detector transmits the rotation angle of the mounted rotation shaft to the conversion unit via the mounting member.

[0030]

Embodiments of the present invention will be described below in detail with reference to the drawings. In this embodiment, the present invention is applied to a potentiometer for detecting a rotation angle of a rotating member to be measured.

The potentiometer comprises a converter 1 and a case 2 as shown in FIGS.
The potentiometer having such a configuration includes a conversion device 1 that is a conversion unit that converts a rotation angle into an electric signal. The potentiometer is rotatably supported by the main body, is mounted with a rotating shaft (not shown) as a measured object, and has a mounting portion 11 serving as a mounting member for transmitting the rotation angle of the rotated rotary shaft to the conversion device 1. It has. The mounting portion 11 has an inner surface 11a formed to be larger than the outer shape of a rotating shaft (not shown), and a part of the rotating shaft when the rotating shaft is mounted is pressed against the inner surface 11a. It has a ridge 11d as a part. Hereinafter, each part constituting the potentiometer will be described.

The converter 1 includes the above-described rotating member 10 and the resistance pattern forming member 20. FIG. 4 shows the positional relationship between the brush 12 and the resistance tracks 22 and 23 as a main part for converting the rotation amount of the rotation shaft into an electric signal.

The resistance pattern forming member 20 includes a substrate 21,
It has two resistance tracks 22,23. Substrate 21
Has a thin, generally disk shape. This substrate 21 includes
A substantially circular hole 21a is formed substantially at the center.
On such a substrate 21, an outer peripheral resistance track 22 extending in a substantially C-shape in the circumferential direction and an inner peripheral resistance track 23 which is located at a distance from the inner peripheral side and extends annularly are formed. Have been.

The outer resistance track 22 is made of a resistance material obtained by adding a thermosetting resin paste to a conductive material powder such as carbon having a high electric resistance. Terminals 24, 2 integrated with each other are provided at both ends of the outer peripheral resistance track 22.
5 are provided.

The inner peripheral resistance track 23 is made of a conductive material obtained by adding a thermosetting resin paste to a conductive material powder such as silver. Then, the inner peripheral resistance track 23
The two terminals 2 of the outer peripheral resistance track 22 described above
Integrated terminal 2 so as to be located between
6 are provided.

On the other hand, the rotating member 10 comprises a mounting section 11 and a brush 12. The mounting portion 11 has a substantially annular shape or a substantially cylindrical shape formed with a certain width. The mounting portion 11 is formed of a plastic material, for example, a resin material. The mounting portion 11 has a substantially D-shaped inner surface 11a. That is,
The mounting portion 11 has an inner side surface 11a composed of a curved surface portion 11b and a flat surface portion 11c, and has a mounting hole 11f in a so-called D-cut hole shape. As will be described later, the mounting shaft 51 of the rotating shaft 50 to be measured is mounted in the mounting hole 11f. The mounting shaft portion 51 has a so-called D-cut shaft shape that is substantially D-shaped. Mounting hole 1
The shape of 1f is substantially the same as the D-cut shaft shape of such a rotating shaft.

A projection 11d is formed on the flat portion 11c of the mounting hole 11f so as to extend in the height direction of the mounting portion 11 or the mounting direction of the rotating shaft. The ridges 11d are formed substantially parallel to each other along the height direction of the mounting portion 11 on the flat portion 11c. It can be said that the shape of the ridge portion 11d in such a flat portion 11c has a so-called rib shape.

The brush 12 is mounted on the outer peripheral surface 11e of the mounting portion 11. The brush 12 has a shape in which the tip is divided into a comb shape. This brush 12
In a state in which the substantially annular mounting portion 11 is inserted into the hole 21a of the substrate 21, as shown in FIG.
3 are contacted by an appropriate elastic force. The brush 12 is adapted to rotate the outer peripheral resistance track 22 and the inner peripheral resistance track 2
3 to move.

As described above, each unit of the conversion device 1 is configured. With such a configuration, the rotation of the rotating member 10 continuously changes the contact position between the resistance tracks 22 and 23 by the multi-contact sliding portion of the brush 12,
The length of the conductive path in the resistance tracks 22, 23 changes. Thereby, a voltage corresponding to the input rotation amount is output. The case 2 in which such a conversion device 1 is stored is configured as follows.

The case 2 is formed in a shape that can accommodate the above-described converter 1. The case 2 includes a case upper pig 30 and a case lower pig 40.

The case upper pig 30 is formed in a substantially circular thin dish shape so that the above-mentioned converter 1 can be housed therein. The case upper cover 30 has a substantially circular opening 31a formed substantially in the center of the main surface 31. And
A cut-out portion 32a is formed in a part of the end of the peripheral wall 32 of the case upper pig 30. This case upper pig 30
The inside is closed by a case lower pig 40.

The case lower pig 40 has a substantially circular plate shape. The diameter of the lower case pig 40 is substantially equal to the diameter of the upper case pig 30. A substantially circular opening 40a is formed in the lower case 40 substantially at the center thereof.

The case 2 is formed in such a shape as described above. With such a shape, the conversion device 1 is housed inside the case upper pig 30 and closed by the case lower pig 40. In the state of being stored in such a case 2, the terminals 24, 2
5 and 26 are led out through the notch 32a of the case upper pig 30. Further, the mounting unit 1 of the conversion device 1
One mounting hole 11f faces the outside. As shown in FIG. 5, the rotary shaft 50, which is an object to be measured and serves as an output shaft, has the mounting hole 1 of the conversion device 1 which faces the outside in the state of being housed in the case 2 as described above.
1f. Next, mounting of the rotating shaft 50 in the mounting hole 11f will be described.

First, the shape of the mounting hole 11f will be specifically described. As described above, the mounting hole 11f includes the curved surface portion 11b and the flat surface portion 11c. For example,
Mounting hole 11f, as shown in FIG. 2, the height of the case where the flat portion 11c and the bottom surface is formed is the H _0.
As described above, the mounting hole 11f is formed with two rows of ridges 11d on the flat surface 11c. For example, by forming this ridge 11d, FIG.
As shown in, the height of the mounting hole 11f is an H _1. On the other hand, as shown in FIG. 6, the mounting shaft portion 51 having a D-cut shaft shape of the rotating shaft 50 mounted in the mounting hole 11f has a shape slightly smaller than the mounting hole 11f and a height h. It is formed.

[0045] That is, the height h of the mounting shaft portion 51, although is higher than the height H ₁ in consideration of the protrusions 11d of the mounting hole 11f described above, the height is not considered ridges 11d of the mounting hole 11f It is formed lower than the H _0. That is, for example, the shape of each part is determined so as to have a relationship of H ₁ ≦ h <H ₀ .

As described above, the shape of the mounting hole 11f of the mounting portion 11 is determined, and the shape of the mounting shaft portion 51 of the rotating shaft 50 is determined. Relative shape of the mounting hole 11f being the height H _1, the mounting shaft portion 51 of the rotary shaft 50 is formed to be slightly the larger shape, further, since the protrusions 11d is a resin material At the time of mounting, the mounting shaft portion 51 of the rotating shaft 50 is pressed into the mounting hole 11f of the mounting portion 11, whereby the ridge 11d is plastically deformed.
The mounting shaft portion 51 is fixed to the mounting hole 11f of the mounting portion 11. That is, by collapsing the size difference between the height H ₁ of the mounting hole 11f in consideration of ridges 11d and the height h of the mounting shaft portion 51, so that to prevent the occurrence of the rotation transmission backlash mounting is made.

Therefore, the potentiometer can be securely attached to the rotary shaft 50 as the object to be measured, while it is easily mounted. Thus, the potentiometer can detect the rotation angle of the rotating shaft 50, which is the object to be measured, with high reliability, while eliminating the dead zone and the like, while having a simple structure.

In the range where the ridge 11d is crushed, the dimensional tolerance can be relaxed, the production cost of each member can be reduced, and the metal for producing such a member can be reduced. The size of the mold can be easily adjusted, and the manufacturing schedule can be shortened. As a result, such a potentiometer can be provided at low cost, and furthermore, a device on which such a potentiometer is mounted, for example, a robot device can be provided at low cost. The mounting portion 11 of the potentiometer has a substantially ring shape. That is, the mounting portion 11 is formed to have a small thickness.
With such a shape, the size of the potentiometer is reduced.

Here, for example, as a comparative example, the size of the mounting hole 11f is slightly smaller than that of the mounting shaft 51 of the rotary shaft 50 without providing the above-mentioned ridge 11d. Consider a case in which 51 is lightly pressed into the mounting hole 11f. In such a case, play between parts can be eliminated.

However, the press-fitting of the mounting shaft portion 51 into the mounting hole 11f causes the load to be continuously applied to the mounting portion 11, thereby causing the mounting portion 11 to be cracked or deformed. In this case, various troubles such as a decrease in detection performance may occur.

On the other hand, the mounting part 11 to which the present invention is applied
The inner surface of the mounting hole 11f is formed to be slightly larger than the outer shape of the mounting shaft 51, and press-fitting is performed by utilizing the plastic deformation of the ridge 11d. The load is small, and the mounting portion 11 does not crack or deform.

Next, an example of mounting the potentiometer configured as described above will be described. FIG. 7 schematically shows a robot device to which the potentiometer is mounted.

As shown in FIG. 7, the robot device 70
As a general outline, a body 71, a head 72, and four legs 73
a, 73b, 73c, and 73d. And
The robot device 70 controls the driving state of a moving unit such as a leg in accordance with, for example, external (for example, surrounding environment) information or own information (for example, an internal state such as emotion).
It is configured to be able to express a certain motion. Such a robot device 70 has its legs 73a,
73b, 73c and 73d are motors 7 serving as driving means.
4 is configured such that the leg 73 a is operated via a gear train including a plurality of gears 75, 76, 77.

The potentiometer 78 is mounted on such a robot device 70, and is mounted on a rotating shaft of a gear for operating its legs. Specifically, the motor 7
A potentiometer is mounted on the rotation shaft 77a of the final gear 77 that transmits the drive of the gear 4 to the leg 73a. Here, the rotating shaft 77a serving as the output shaft has a so-called D-cut shaft shape. In FIG. 7, one leg 73a
Is driven by a motor 74 via a plurality of gears 75, 76, 77. Although not shown, the other legs 73b, 73c, 73d similarly have a plurality of gears 75, 76. , 77 via a motor 74. And the other leg 73b,
Potentiometers are also attached to 73c and 73d.

The potentiometer 78 is connected to the robot device 7
0 can detect the rotation angle (or rotation angle) of the leg 73a when the leg 73a is operated. This FIG.
When the potentiometer 78 is provided as shown in (1), the rotation angle (or rotation angle) of the hip joint of the leg 73a of the robot device 70 can be detected. The position of the potentiometer 78 in the robot device 70 is not limited to this.
For example, a potentiometer can be provided to detect the rotation angle (or rotation angle) of the knee of the leg, or a potentiometer is provided to detect the rotation angle (or rotation angle) of the head. You can also.

FIG. 8 shows a more specific configuration of the robot device 70. The robot device 70 shown in FIG.
It is a so-called pet-type robot having a shape imitating an animal such as a "dog". The head unit 72 and the tail 79 are connected to the rear end, respectively.

As shown in FIG. 9, a CPU (Central Processing Unit) 81 and a DRA
M (Dynamic Random Access Memory) 82, Flash ROM (Read 0nly Memory) 83, PC (Personal Co.)
A controller 87 formed by interconnecting a card interface circuit 84 and a signal processing circuit 85 via an internal bus 86, and a battery 88 as a power source of the robot device 70 are housed therein. . The torso unit 71 includes the robot device 7.
An angular velocity sensor 89 and an acceleration sensor 90 for detecting the direction of zero and the acceleration of the movement are also stored.

The head unit 72 has a CCD (Charge Coupled Device) camera 91 for capturing an image of an external situation, and a pressure applied by a physical action such as “stroke” or “hit” from the user. , A distance sensor 93 for measuring a distance to an object located ahead, a microphone 94 for collecting an external sound, and a speaker for outputting a sound such as a cry. 95, LEDs (Light Emitting Diodes) (not shown) corresponding to the “eyes” of the robot device 70, and the like are arranged at predetermined positions.

Further, joint portions of the leg units 73a to 73d, connection portions of the leg units 73a to 73d and the body unit 71, connection portions of the head unit 72 and the body unit 71, and a tail 79 Are connected to the actuators 96 ₁ -96 for the degrees of freedom, respectively.
96 _n are arranged, and potentiometers 97 _{1 to} 97 _n are arranged accordingly. For example, each of the actuators 96 _{1 to} 96 _n has a servomotor. The leg unit 73 is driven by the servo motor.
a to 73d are controlled to transition to the target posture or motion.

The angular velocity sensor 89, acceleration sensor 90, touch sensor 92, distance sensor 93, microphone 94, speaker 95, and each potentiometer 9
Various sensors such as 71 _{1 to} 97 _n , LEDs and actuators 96 _{1 to} 96 _n are connected to the signal processing circuit 85 of the control unit 87 via the corresponding hubs 98 _{1 to} 98 _n , respectively, and the CCD camera 91 and the battery 8
8 are directly connected to the signal processing circuit 85, respectively.

The signal processing circuit 85 sequentially takes in the sensor data, image data and audio data supplied from each of the above-mentioned sensors, and sequentially stores them at predetermined positions in the DRAM 82 via the internal bus 86, respectively. Further, the signal processing circuit 85 sequentially takes in remaining battery power data indicating the remaining battery power supplied from the battery 88 and stores the data at a predetermined position in the DRAM 82.

The sensor data, image data, audio data, and remaining battery data stored in the DRAM 82 as described above are then transferred to the robot device 7 by the CPU 81.
It is used when performing operation control of 0.

In practice, the CPU 81 controls the robot device 70
When the power is turned on, the memory card 9 inserted in the PC card slot (not shown) of the body unit 71 is
9 or the control program stored in the flash ROM 83 is read out directly or directly via the PC card interface circuit 84 and stored in the DRAM 82.

The CPU 81 then determines the status of itself and its surroundings and the usage based on the sensor data, image data, audio data, and remaining battery data sequentially stored in the DRAM 82 by the signal processing circuit 85 as described above. Judge the instruction from the person and the presence or absence of the action.

Further, the CPU 81 determines the subsequent action based on the result of the determination and the control program stored in the DRAM 82, and drives the necessary actuators 96 _{1 to} 96 _n based on the determined result. Actions such as swinging the unit 72 up and down, left and right, moving the tail 79, and driving the leg units 73a to 73d to walk.

At this time, the CPU 81 generates audio data as required, and supplies the generated audio data to the speaker 95 via the signal processing circuit 85 as an audio signal, thereby outputting an audio based on the audio signal to the outside. LE above
D is turned on, off or blinked.

In this way, the robot device 70 is capable of acting autonomously in response to the situation of itself and the surroundings, and instructions and actions from the user.

[0068] Then, in such a robot apparatus 70, the potentiometer ₉₇ 1 to 97 _n, and detects the rotation angle of the corresponding leg units 73 a to 73 d. For example, the robot device 70 uses the rotation angles detected by the potentiometers 97 _{1 to} 97 _n to determine the CP.
U81 is the next leg unit 73a-73d corresponding to it.
Has determined the behavior. That is, for example, the CPU 81
Are based on the outputs of the potentiometers 97 _{1 to} 97 _n and the target joint indication values, respectively.
Servo-controls the servomotor that drives. As described above, the potentiometers 97 _{1 to} 97 _n are
0 is attached.

FIGS. 10 to 12 show a potentiometer having a shape different from that of the potentiometer described above. Specifically, the shape of the inner surface 11a of the mounting portion 11 is different.

The potentiometer shown in FIG. 10 has a substantially hemispherical hemispherical projection 11g on a plane portion 11c constituting a mounting hole 11f. Thereby, similarly to the above-mentioned potentiometer, as shown in FIG. 5, the mounting shaft portion 51 of the rotating shaft 50 is press-fitted into the mounting hole 11f of the mounting portion 11, and the hemispheric projection 11g of the mounting hole 11f is plastically deformed. Thus, the mounting shaft 51 is fixed to the mounting hole 11f.

In the above-described embodiment, the mounting shaft 51 of the rotating part 50 is mounted on the mounting part 51 on the assumption that at least the ridge 11d or the hemispherical protrusion 11g is formed of a resin material such as a plastic material. The fixing is performed by utilizing the plastic deformation at the time of press-fitting into the 11 mounting holes 11f. However, the present invention is not limited to this, and at least the protrusion 11d and the hemispheric protrusion 11g may be formed of an elastic material such as rubber. In this case, when the mounting shaft portion 51 of the rotary shaft 50 is press-fitted into the mounting hole 11f of the mounting portion 11, the ridge 11d or the hemispherical protrusion 11g is elastically deformed, and the mounting shaft portion 51 is attached to the mounting hole 11f. Become fixed to. Further, the present invention is not limited to being formed of an elastic material, and may be formed as an elastic structure or a spring structure by a resin material or the like.

The potentiometer shown in FIG. 11 is an example having such an elastic structure or a spring structure. Specifically, this potentiometer is mounted on the mounting hole 11.
The flat part constituting f has an elastic structure. The elastic structure is realized by a cantilever-supported flat plate 11h and a protruding portion 11i that is a free end and protrudes inward of the mounting hole 11f. With such an elastic structure, when the mounting shaft portion 51 of the rotating shaft 50 is inserted into the mounting hole 11f of the mounting portion 11, the protruding portion 11i is pressed down to generate an elastic force, thereby forming the protruding portion 11i.
Is pressed against the mounting shaft 51. Therefore, the mounting shaft 51 is securely fixed to the rotation hole 11f.

The potentiometer shown in FIG.
This is another example of the configuration. While the potentiometer of the above-described embodiment is provided with a protruding ridge 11d or the like formed in the flat portion 11c constituting the mounting hole 11f, the potentiometer shown in FIG. For example, a protruding ridge portion 11j having a protruding shape with respect to the curved surface portion 11b is formed. As a result, similarly to the above-described potentiometer, as shown in FIG. 5, when the mounting shaft portion 51 of the rotating shaft 50 is press-fitted, the ridge 11j formed on the curved surface portion 11b is plastically deformed. The part 51 is fixed to the mounting hole 11f.

Further, in the above-described embodiment, a case has been described in which two (or two rows) of protruding ridges 11d or hemispherical protruding portions 11g are provided. But,
The invention is not limited to this, and one (or one row) or three (or three rows) or more can be provided.
Further, in the example using FIG. 10, the case where the protruding shape is a substantially hemispherical shape has been described. However, the present invention is not limited to this, and may have a substantially conical shape, for example.

In the above embodiment, the conversion device 1
The case where the protruding ridge portion 11d or the like having the protruding shape is provided on the side of the mounting hole 11f has been described. However, the present invention is not limited to this. For example, as shown in FIG. 13, a protruding ridge portion 51 a having a protruding shape may be provided on the mounting shaft portion 51 side of the rotating shaft 50. In this case, the mounting hole 11f side of the conversion device 1 is formed into a shape having no protruding portion.

Thus, at the time of mounting, the rotating shaft 51
Is pressed into contact with a part of the curved surface portion 11b of the mounting hole 11f, and the mounting shaft portion 51 is pressed into the mounting hole 11f. Thereby, the rotating shaft portion 51 is fixed to the mounting hole 11f. At this time, for example, the curved surface portion 11b of the mounting hole 11f is pressed by a part of the rotating shaft portion 51 and is plastically deformed.

In the above embodiment, the mounting shaft 5
1 of height h, fitted although the protrusions 11d of the hole 11f is greater than the height H ₁ in consideration is formed lower than the height H ₀ is not considered ridges 11d of the mounting hole 11f.
That is, the shape of each part is determined so as to have a relationship of H ₁ ≦ h <H ₀ .
However, mounting portion 11, the height H ₁ of the ridge portion 11d in consideration of the mounting holes 11f, may be slightly larger than the height h of the mounting shaft portion 51. That is, to have a relationship of h ≦ H _1, to determine the shape. However, (H ₁
−h) << (H ₀ −h). In this case, the protruding ridges 11d and the like formed in the protruding shape are not crushed by the mounting of the mounting shaft portion 51, but compared with the shape having no protruding shape.
It is possible to prevent the mounting by press fitting such that the mounting portion 11 is damaged, and to prevent the rotation backlash.

[0078]

The rotation angle detector according to the present invention is provided with a conversion means for converting a rotation angle into an electric signal, and a rotation shaft which is rotatably supported by the main body and which is an object to be measured, and is rotated. A mounting member for transmitting the rotation angle of the rotating shaft to the converting means, the mounting member having an inner surface formed to be larger than the outer shape of the rotating shaft, and the inner surface having the rotating shaft mounted thereon. By having a portion where a part of the rotating shaft is pressed, so that when the rotating shaft is mounted on the mounting member, a part of the mounting member and a part of the rotating shaft are pressed against each other. Become. Thereby, the rotation angle detector can easily and securely fasten the mounting member and the rotation shaft.

[Brief description of the drawings]

FIG. 1 is an exploded perspective view showing a configuration of a potentiometer according to an embodiment of the present invention.

FIG. 2 is a bottom view showing the configuration of the potentiometer described above.

FIG. 3 is a plan view showing a configuration of the potentiometer described above.

FIG. 4 is a plan view illustrating a configuration of a conversion unit including a brush and a resistance track.

FIG. 5 is a perspective view used to explain the mounting of the mounting shaft portion of the rotating shaft into the mounting hole of the mounting portion.

FIG. 6 is a front view showing a rotating shaft mounted on the potentiometer.

FIG. 7 is a perspective view illustrating a schematic configuration of a robot device to which the above-described potentiometer is mounted.

FIG. 8 is a perspective view showing a specific configuration of the robot device described above.

FIG. 9 is a block diagram illustrating a specific example of a circuit configuration and the like of the robot device described above.

FIG. 10 is a perspective view showing another configuration example of the potentiometer, showing a configuration of a potentiometer having a hemispherical projection on an inner surface of a mounting hole.

FIG. 11 is a perspective view showing another configuration example of the potentiometer, showing the configuration of a potentiometer having an elastic structure inside a mounting hole.

FIG. 12 is a perspective view showing another configuration example of the potentiometer, the configuration of a potentiometer having a ridge on a curved surface side of an inner surface of a mounting hole.

FIG. 13 is a perspective view showing an example in which a protrusion is provided on the mounting shaft side of the rotating shaft.

FIG. 14 is a perspective view showing a configuration of a conventional volume control device.

FIG. 15 is an exploded perspective view used for explaining a conventional potentiometer.

FIG. 16 is a sectional view used to explain a conventional potentiometer.

[Explanation of symbols]

1 conversion device, 11 mounting part, 11d ridge, 11f
Mounting hole, 12 brushes, 22, 23 resistance track

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H01C 10/32 H01C 10/32 A G01D 5/16 A F term (Reference) 2F063 AA35 CA23 DA05 DC03 DC06 FA01 KA01 2F069 AA83 GG06 MM04 2F077 AA00 CC02 EE02 VV02 VV31 5E030 BA06 CB01 CC03 CD14 FB01

Claims (7)

[Claims] A conversion means for converting a rotation angle into an electric signal; a rotation shaft supported by the main body so as to be rotatable, the rotation shaft being a measurement object, and the rotation angle of the rotation shaft being rotated being converted. A mounting member for transmitting the rotating shaft to the rotating shaft when the rotating shaft is mounted on the inner surface. A rotation angle detector characterized in that the portion has a portion to be pressed against. 2. The mounting member has a projection integrally formed on the inner surface, and the projection is pressed against a part of the rotation shaft when the rotation shaft is mounted. The rotation angle detector according to claim 1, wherein: 3. The rotation angle detector according to claim 2, wherein the mounting member has a substantially ring shape, and the protrusion is formed on an inner surface of the mounting member. 4. The rotation angle detector according to claim 1, wherein the portion to be pressed is formed of a plastic material. 5. The rotation angle detector according to claim 1, wherein the portion to be pressed is formed as an elastic structure. 6. The rotation angle detector according to claim 1, wherein the portion to be pressed is formed on the inner surface in a substantially ridge shape extending in a mounting direction of the rotation shaft. 7. The converting means includes a resistance track extending in a circumferential direction, and a brush made of a conductive metal slidably moving on the resistance track, wherein the brush slides on the resistance track. By moving, it outputs an electrical signal according to the rotation angle, wherein the brush is formed integrally with the mounting member,
2. The rotation angle detector according to claim 1, wherein the mounting member is slid and moved on the resistance track by being rotated.